CN102149192B - Cellular network wireless positioning method based on cooperation of mobile stations - Google Patents
Cellular network wireless positioning method based on cooperation of mobile stations Download PDFInfo
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- CN102149192B CN102149192B CN 201110026810 CN201110026810A CN102149192B CN 102149192 B CN102149192 B CN 102149192B CN 201110026810 CN201110026810 CN 201110026810 CN 201110026810 A CN201110026810 A CN 201110026810A CN 102149192 B CN102149192 B CN 102149192B
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Abstract
The invention discloses a cellular network wireless positioning method based on the cooperation of mobile stations, which comprises the following steps of: measuring a long distance between a base station and the mobile station; measuring arrival time and arrival angular value of a signal between the base station and the mobile station by the base station; calculating rough position coordinates of the mobile station by adopting a hybrid positioning algorithm combining time of arrival (TOA)/angle of arrival (AOA); sending the rough position coordinates to the mobile station through a downlink link; forming a temporary cooperation network by the mobile station and other nearby mobile stations which complete rough positioning and are located in a cell; measuring short distances among the mobile stations; acquiring distance information among the mobile stations by measurement of signal intensity; and performing iteration correction on the rough position coordinates of all the mobile stations by which the temporary cooperation network is formed through utilizing distance measurement information among the mobile stations and a spring model algorithm until convergence is reached, wherein convergence values are final positioning results of the mobile stations. In the positioning method, the base station in which the mobile station is located is required to participate, and the positioning precision is improved by utilizing short distance information among the mobile stations.
Description
Technical field
The invention belongs to cellular network wireless location technology field, particularly a kind of method of utilizing radio communication installation to carry out wireless location.
Background technology
Wireless location technology all is widely used at searching rescue, intelligent transportation, logistics management, geological prospecting and the numerous areas such as territorial development, navigation/aerial navigation.Nowadays in the every field of socio-economic activity and daily life, the geography information with locus characteristic is being brought into play increasing effect, and high-precision wireless location technology also more and more is subject to extensive concern.
In numerous wireless location systems, foremost is that radio emitting source is arranged on to the navigation system on various orbiters, such as " Big Dipper " navigation system of Galileo (Galileo) system, Muscovite GLONASS system and the China in the global positioning system (GPS) of the U.S., Europe etc., the huge advantage covered by feat of wide area, by radio position finding radio directional bearing technical development to a new height.Although satellite positioning tech is used widely in the national economy various aspects, but, due to the impact that is subject to various reception errors, need for example, just can reach required positioning accuracy request by other supplementary means (setting up differential reference station) in application; Simultaneously in the situation that receive signal and be subject to physics and block and can't complete navigation task.Therefore, utilize huge civilian wireless network facility existing and that be about to build to carry out wireless location, not only can make up the deficiency of global position system, and can be used as the service of radio communication high added value.Especially after FCC has promulgated E911 (Emergency call 911) positioning requirements, add the driving of great market profit, occurred the upsurge of research mobile communication system terminal location technology both at home and abroad.Typical cellular radio framing signal method of measurement has based on signal strength signal intensity (RSS), based on time of arrival (toa) (TOA), based on signal arrival time difference (TDOA), based on signal, reaches the method for angle (AOA) and their mixed method.
Existing cellular positioning system requires many base station measurements could locate a travelling carriage mostly, and for example the location of the two dimensional surface based on TOA or TDOA all at least needs three base stations to participate in.Yet because the main purpose of cellular network is for realizing communication service, be not to be the custom-designed system of positioning service, so a Main Design Principles of cellular network is exactly that travelling carriage and provide the signal to noise ratio between the dominant base of service high as much as possible is provided, and the signal to noise ratio between other base stations and this travelling carriage is low as much as possible, thereby alleviate inter-cell interference.So, when using up link as framing signal, the signal strength signal intensity that the intensity of the framing signal of being sent by target MS that neighbor base station receives is sent than this place, base station community user usually is much lower, be also that neighbor base station not only can't receive that the mobile station signal of sufficient intensity carries out parameter Estimation, and this place, base station community user signal become strong jamming; When using down link as framing signal, the framing signal sent by neighbor base station that target MS receives is more much lower than this cell base station downlink signal strength equally, and this cell base station signal also will become strong jamming.The consequence that this situation directly causes is that the reference base station signal that positioning equipment can't be collected sufficient amount positions, this namely the what is called in wireless location intercept limited (hearability-restricted) problem.The environment that this problem is low in base station density or adopt for solving near-far interference in the system of power control techniques the most easily occurs.In addition, the base station number that increase to participate in location also can cause other problem, as high as network excess load, synchronous difficulty, computation complexity.
Non line of sight (NLOS) error is another challenge of Wireless Location in Cellular Network.Arrive travelling carriage because there is the direct projection path not all base station, so once the straight line path between transmitter and receiver by barrier, stopped, transmit and will pass through reflection, refraction, scattering etc. and just can reach receiver.If according to traditional localization method, according to the NLOS signal received, travelling carriage is positioned, can produce very large position error.In-site measurement result according to Nokia company, in the GSM network environment, average N LOS error reaches 500-700 rice, the measurement result of KoreaTelecom company in the IS-95 cdma network also shows that average N LOS error reaches 589 meters, all is far longer than measure error.In the NLOS environment, be to improve positioning precision, proposed many methods and alleviated or eliminate the NLOS error effect.Wherein the simplest method is to identify and abandon the NLOS measurement result, only with the LOS measured value of picking out, positions.But this method only is only applicable to the situation in a large amount of LOS path, when the LOS measured value is not enough or there is no the LOS path at all, this method is just no longer applicable.Therefore, many methods that are used for suppressing the NLOS error effect are suggested, and mainly can be divided into following a few class:
The first kind is the LOS Reconstruction Method.The people such as Wylie have proposed a kind of according to the distance measure in a period of time, adopt N rank multinomial level and smooth, calculate the standard deviation of distance, with the standard deviation of known measurement noise, compare, identification LOS/NLOS situation, and further according to the residual error of distance measure, carry out LOS reconstruct (M.P.Wylie and J.Holtzmann, " Thenon-line-of-sight problem in mobile location estimation, " InProceedings of the IEEE International Conference on UniversalPersonal Communications, September 1996, vol.2, pp.827-831.).Measured value in another with good grounds each time period, with the level and smooth distance value of kalman filter method, judge the LOS/NLOS situation by analyzing noise variance, and reconstruct LOS distance value, thereby obtain the estimated value of position.These class methods are the poor poor fact of criterion distance be greater than under the LOS environment of the criterion distance based under the NLOS environment all, but the Threshold of standard deviation is set the improper identification that easily makes the mistake by subjective experience value or sum up and obtain by great many of experiments;
Equations of The Second Kind is the model error method.Al-Jazzar utilizes different scattering model (ring model, disk model, block Gaussian distribution model etc.) to obtain based on the TOA signal probability density function (S.Al-Jazzar under a certain model, J.Caffery, and H.-R.You, " Scattering-model-based methods for TOA location in NLOSenvironments; " IEEE Transactions on Veh.Technol., vol.56, no.2, pp.583-593, March 2007.).Utilize probability density function to obtain the statistical property of NLOS error, and then estimate the position of travelling carriage.Because actual channel will be much more complicated than above-mentioned model, thus the method only with the approximate environment of model in could obtain result preferably;
The 3rd class is the residual error weighting algorithm.The people such as Pi-Chun Chen have proposed a kind of utilization location residual error positioning result have been weighted, to reduce the adverse effect of NLOS error, improve the residual error weighting algorithm (P.-C.Chen of positioning precision, " A non-line-of-sight errormitigation algorithm in location estimation; " In Proceedingsof the IEEE Wireless Communications and Networking Conference, September 1999, vol.1, pp.316-320.).But this algorithm requires to have a plurality of base stations to participate in measuring, and a plurality of TOA measured values are provided.Yet, in practice due to base station density low (as suburb) or take power control etc., the base station signal that travelling carriage can receive is limited;
The 4th class is the mixed positioning algorithm.In different channels and network environment, TOA, TDOA, AOA and RSS measured value have different error statistics characteristics, and accuracy of detection is also different, and therefore the advantage of comprehensive various localization methods, be expected to improve the positioning precision to travelling carriage.The people such as LiCong are applied to TDOA/AOA mixed positioning problem to Taylor series expansion method, with simple employing TDOA method, compare, obtained improvement (the C.Liand W.Zhang of positioning performance under certain condition, " Hybrid TDOA/AOA mobile user location forwideband CDMA cellular systems; " IEEE Transactions onWireless Communications, vol.1, no.3, pp.439-447, July2002.).Yet in serious environment, the AOA measurement error is larger in the NLOS effect, the AOA impact of especially neighbor base station being measured is larger, and now, to adopting the algorithm of many architectures, its performance improvement is limited;
The 5th class is fingerprint (Fingerpring) positioning mode.The method is the RSS value of some known location node in the measurement and positioning zone in advance, and is kept in database.When having travelling carriage to enter, the RSS value measured and the record value in database relatively, draw the relevant position coordinate.The advantage of the method is when Database improves, and positioning precision is higher.Its shortcoming is that construction cost is higher, and wants frequent maintenance update, especially, when larger change occurs environment, almost wants the data reconstruction storehouse, and workload is very large.
Summary of the invention
Technical problem to be solved by this invention, it is the deficiency existed in the existing cellular network wireless location technology, the cellular network wireless positioning method of a kind of movement-based platform cooperation is provided, it only needs the base station of community, travelling carriage place to participate in, and utilizes the short distance information between travelling carriage to improve positioning precision.
The present invention is for solving above technical problem, and the technical scheme adopted is:
The cellular network wireless positioning method of a kind of movement-based platform cooperation, comprise the steps:
(1) carry out the long range measurements between base station-travelling carriage, by travelling carriage place cell base station, measure the time of arrival (toa) between this base station and travelling carriage and reach angle value;
(2) utilize the TOA/AOA mixed location method to calculate the coarse position coordinate of travelling carriage, and send to this travelling carriage through down link;
(3) near in travelling carriage Yu Zhe community, other travelling carriage that completes coarse positioning forms interim cooperative network, and the short distance of carrying out between travelling carriage-travelling carriage is measured, and by signal strength measurement, obtains the range information between travelling carriage-travelling carriage:
(4) utilize the ranging information between travelling carriage, adopt the spring model algorithm to carry out the iteration correction to the coarse position coordinate of all travelling carriages of forming interim cooperative network, until convergence, convergency value is the last positioning result of these travelling carriages.
In above-mentioned steps (1), the summation that time of arrival (toa) value between base station and travelling carriage is true time delay, latency measurement error and NLOS error, the angle value that reaches between base station and travelling carriage is truly to reach the summation of angle, angle measurement error and non line of sight error.
In above-mentioned steps (2), establish (x
s, y
s) expression base station coordinates, the coarse position coordinate (x of travelling carriage
i, y
i) by following formula, tried to achieve:
x
i＝x
s+d
icosθ
i
y
i＝y
s+d
isinθ
i
Wherein, d
i=c * t
i, t wherein
imean the time of arrival (toa) between base station and i travelling carriage, c is the light velocity; θ
imean the angle value that reaches between i travelling carriage and base station.
In above-mentioned steps (3), the process that short distance between travelling carriage-travelling carriage is measured is: a certain travelling carriage is broadcasted its positional information and transmitting power size towards periphery, the travelling carriage that can receive its signal is on every side recorded position coordinates and the transmitting power size of aforementioned travelling carriage, and measure the received power size, calculate the distance between this travelling carriage and aforementioned travelling carriage by the relation transmitted and received between power; Abovementioned steps repeats between each travelling carriage that forms interim cooperative network, and final all travelling carriages are known mutually the other side's coordinate.
After adopting such scheme, the present invention has broken through the limitation that cellular network location method is in the past only utilized long range information between base station and travelling carriage, short distance information between travelling carriage and travelling carriage is also brought into to location, by the cooperation between travelling carriage, improve positioning precision.The present invention is different from the method for common elimination NLOS error, is not merely by improving algorithm or adding the prior information etc. of NLOS error to reduce position error, but utilizes the cooperation between travelling carriage to improve positioning precision, has following beneficial effect:
(1) method of the present invention only needs dominant base to participate in, because occurring that intercepting limited (hearability-restricted) situation causes the problem that can't locate, be particularly suitable for the environment that base station density is lower and the beehive network system that adopts power control techniques while having overcome many architectures;
(2) because the distance between base station (BS) and travelling carriage (MS) can reach hundreds of to several kms, and between travelling carriage (MS) and travelling carriage (MS), distance is generally at tens meters, this has just increased the probability that has los path between MS-MS greatly.The present invention utilizes short distance measured value between more accurate MS-MS, and position coordinates is adjusted, and can revise the error that between BS-MS, the long range measurements value is brought, and improves positioning precision;
(3) method of the present invention can be simultaneously carried out intense adjustment to the coordinate of a plurality of travelling carriages, and an iterative process can complete the location of a plurality of travelling carriages, has improved location efficiency;
(4) the present invention only need to be at the base station end array that fixes up an aerial wire, to travelling carriage without this requirement, thereby can greatly reduce installation cost; Simultaneously, because the base station distance of travelling carriage and its community, place is nearer, the AOA value error of therefore measuring between this base station and travelling carriage with travelling carriage place cell base station is little.
The accompanying drawing explanation
Fig. 1 is flow chart of the present invention;
Fig. 2 be we bright in applied navigation system schematic diagram;
Fig. 3 is applied spring stress schematic diagram in the present invention.
Embodiment
In order to understand better technical scheme of the present invention, below with reference to drawings and the specific embodiments, workflow of the present invention and beneficial effect are elaborated.
As shown in Figure 1, the invention provides the cellular network wireless positioning method of a kind of movement-based platform cooperation, comprise the steps:
(1) carry out the long range measurements between base station-travelling carriage (BS-MS), by travelling carriage place cell base station, measure the time of arrival (toa) (TOA) between this base station and travelling carriage and reach angle (AOA) value;
In the present embodiment, as shown in Figure 2, this is typical hexagon honeycomb to applied environment, the honeycomb radius is 1000m, and the coordinate of 7 base stations is respectively (0m, 0m), (1500m, 866m), (1500m,-866m), (0m, 1732m), (0m ,-1732m), (1500m, 866m) with (1500m ,-866m).All comprise N travelling carriage (N is natural number) in described each community, place, base station, be designated as respectively C
i(i=1,2 ..., N), when some travelling carriages (being made as C1) send Location Request to this cell base station, after base station receives Location Request, by the TOA between this base station of base station measurement and travelling carriage and AOA value.
t
i＝t
d，i+t
n，i+t
b，i
θ
i＝θ
d，i+θ
n，i+θ
b，i
Wherein, t
imean the TOA value between base station and i travelling carriage, between base station and this travelling carriage apart from being d
i=c * t
i, t wherein
d, ifor the true time delay between BS-MS, t
n, ifor latency measurement error, t
b, ifor the NLOS error, c is the light velocity; θ
imean the AOA value between i travelling carriage and base station, θ
d, ifor between BS-MS, truly reaching angle, θ
n, ifor angle measurement error, θ
b, ifor the non line of sight error.
(2) utilize the TOA/AOA mixed location method to calculate the coarse position coordinate of travelling carriage;
If (x
s, y
s) expression base station coordinates, the coarse position coordinate (x of travelling carriage
i, y
i) can be tried to achieve by following formula:
x
i＝x
s+d
icosθ
i
y
i＝y
s+d
isinθ
i
Gained travelling carriage C
1position coordinates, send to this travelling carriage C through down link
1.
(3) near in travelling carriage Yu Zhe community, other travelling carriage that completes coarse positioning forms interim cooperative network, the short distance of carrying out between travelling carriage-travelling carriage (MS-MS) is measured, and by signal strength signal intensity (RSS), measures and obtains the range information between travelling carriage-travelling carriage:
Travelling carriage C
1then broadcast towards periphery its positional information and transmitting power size, the travelling carriage that can receive its signal on every side is designated as respectively C
2, C
3..., C
n(establish the travelling carriage that can receive signal on every side and have N-1), these travelling carriages are recorded C
1position coordinates and transmitting power size, and measure the received power size, calculate they and travelling carriage C by transmitting and receiving relation between power
1between distance, method is as follows:
According to path loss model, the pass between known power and distance is:
(L
p)
dB＝(L
0)
dB-10αlog
10(d/d
0)+μ
D wherein
0for near-earth reference distance, L
0for distance is d
0the time signal power that receives, d in the present invention
0obtain very little (according to circumstances value 0.1m-1m), L
0can be similar to by transmitting power and replace; L
pbe the signal power that distance receives during for d, α is path loss index, shows the speed of path loss with the distance growth, and it depends on surrounding environment, and according to document, general α gets 2-5; μ is shadowing factor, and it is that average is zero, and standard deviation is σ
μnormal random variable.Utilize above formula, according to transmitting and receiving power, just can estimate certain travelling carriage and travelling carriage C
1between distance.
Then travelling carriage C
2, C
3..., C
nrespectively to C
1send answer signal (comprising their position coordinates and transmitting power sizes separately), C
1can obtain C with same method
2, C
3..., C
nposition coordinates, and it and C
2, C
3..., C
nbetween distance size.Said process is at C
2, C
3..., C
nbetween repeat, until select, M (M≤N) is individual can receive mutually the travelling carriage to square signal, and this M travelling carriage is known mutually the other side's coordinate.
(4) utilize the ranging information between travelling carriage, adopt the spring model algorithm to carry out the iteration correction to the coarse position coordinate of M travelling carriage simultaneously, until convergence, convergency value is the last positioning result of this M travelling carriage:
Adopt spring model (P, S) to describe the wireless connections between travelling carriage, wherein P means the particle collection, and S means the spring collection.Particle represents travelling carriage herein, and spring represents the distance between travelling carriage.P
i∈ P means i travelling carriage in interim cooperative network, s
ij∈ S correspondingly means the distance between i and j travelling carriage.Each particle has four physical attributes, i.e. quality m, position r, speed v and acceleration a.For spring s
ij, the power that spring produces can mean with following formula:
L wherein
ij0mean spring s
ijformer length, be the distance calculated by the coarse position coordinate between i and j travelling carriage herein
l
ijmean spring s
ijcurrent length, the distance between it and j the travelling carriage that is that i travelling carriage measure by RSS herein; k
ijmean coefficient of elasticity.Therefore-k
ij(l
ij-l
ij0) can mean the size of spring stress, and
mean i the direction that particle is stressed.In interim cooperative network, each particle is connected by spring with several particles, when these spring-compresseds or elongation, will on particle, produce and make a concerted effort.
For particle p
i, it is suffered can be expressed as with joint efforts:
Fig. 3 has provided the stressing conditions of particle.Make a concerted effort according to this, can obtain particle p
iacceleration:
Particle p
iposition and speed can be expressed as respectively:
The discrete function form can be represented by the formula:
As particle p
imaking a concerted effort originally is not 0 o'clock, and this will draw p with joint efforts
imove to a new position, make a concerted effort simultaneously
also change.This process is constantly carried out, until particle p
imoving to a certain position suffered making a concerted effort is 0 o'clock, and now particle no longer moves, and present position is the rearmost position of particle.Other particle (travelling carriage) in interim cooperative network adopts the same manner to carry out the adjustment of position coordinates simultaneously, and a new coordinate is sent to other particle (travelling carriage), finds range each other continuously simultaneously and calculates suffered making a concerted effort separately.In practical application, as long as the suffered double variable quantity of making a concerted effort of particle is less than certain threshold value, just can think that the position of particle no longer changes, also obtain the final positioning result of particle (travelling carriage).It is to be noted, here the motion process of particle (travelling carriage) under the effect of power is virtual, actual particle (travelling carriage) does not change position in spring model algorithm implementation, just original inaccurate coarse position coordinate is constantly adjusted to more correct position coordinates.
Above embodiment only, for explanation technological thought of the present invention, can not limit protection scope of the present invention with this, every technological thought proposed according to the present invention, and any change of doing on the technical scheme basis, within all falling into protection range of the present invention.
Claims (4)
1. the cellular network wireless positioning method of movement-based platform cooperation, is characterized in that comprising the steps:
(1) carry out the long range measurements between base station-travelling carriage, by travelling carriage place cell base station, measure the time of arrival (toa) between this base station and travelling carriage and reach angle value;
(2) utilize the TOA/AOA mixed location method to calculate the coarse position coordinate of travelling carriage, and send to this travelling carriage through down link;
(3) near in travelling carriage Yu Zhe community, other travelling carriage that completes coarse positioning forms interim cooperative network, and the short distance of carrying out between travelling carriage-travelling carriage is measured, and by signal strength measurement, obtains the range information between travelling carriage-travelling carriage:
(4) utilize the ranging information between travelling carriage, adopt the spring model algorithm to carry out the iteration correction to the coarse position coordinate of all travelling carriages of forming interim cooperative network, until convergence, convergency value is the last positioning result of these travelling carriages.
2. the cellular network wireless positioning method of a kind of movement-based platform as claimed in claim 1 cooperation, it is characterized in that: in described step (1), the summation that time of arrival (toa) value between base station and travelling carriage is true time delay, latency measurement error and NLOS error, the angle value that reaches between base station and travelling carriage is truly to reach the summation of angle, angle measurement error and non line of sight error.
3. the cellular network wireless positioning method of a kind of movement-based platform as claimed in claim 2 cooperation, is characterized in that: in described step (2), establish (x
s, y
s) expression base station coordinates, the coarse position coordinate (x of travelling carriage
i, y
i) by following formula, tried to achieve:
x
i＝x
s+d
icosθ
i
y
i＝y
s+d
isinθ
i
Wherein, d
i=c * t
i, t wherein
imean the time of arrival (toa) between base station and i travelling carriage, c is the light velocity; θ
imean the angle value that reaches between i travelling carriage and base station.
4. the cellular network wireless positioning method of a kind of movement-based platform as claimed in claim 3 cooperation, it is characterized in that: in described step (3), the process that short distance between travelling carriage-travelling carriage is measured is: a certain travelling carriage is broadcasted its positional information and transmitting power size towards periphery, the travelling carriage that can receive its signal is on every side recorded position coordinates and the transmitting power size of aforementioned travelling carriage, and measure the received power size, calculate the distance between this travelling carriage and aforementioned travelling carriage by the relation transmitted and received between power; Abovementioned steps repeats between each travelling carriage that forms interim cooperative network, and final all travelling carriages are known mutually the other side's coordinate.
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| CN108919322B (en) * | 2018-07-11 | 2022-07-08 | 南京航空航天大学 | Positioning resolving method adopting angle information conversion |
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